[SRC] Baxter_examples

__init__.py

# Copyright (c) 2013-2015, Rethink robotics# All rights reserved.## redistribution and use in source and binary forms, wit h or without# modification, is permitted provided that the following conditions is met:## 1. Redistributions of source code must retain the above copyright notice,# this list of conditions and the following DISCL aimer.# 2. Redistributions in binary form must reproduce the above copyright# notice, this list of conditions and the following di Sclaimer in the# documentation and/or other materials provided with the distribution.# 3. Neither the name of the Rethink robotics nor the names of its# contributors may be used to endorse or promote products Derived from# this software without specific prior written permission.## This software are provided by the COPYRIGHT HOL DERs and CONTRIBUTORS "as is" # and any EXPRESS OR implied warranties, including, but not LIMITED to, the# implied Warranti ES of merchantability and FITNESS for A particular purpose# is DISCLAimed.  In NO EVENT shall the COPYRIGHT OWNER OR CONTRIBUTORS be# liable for any DIRECT, INDIRECT, incidental, special, exemplary, or# consequential damages (including, but not LIMITED to, procurement of# substitute GOODS OR SERVICES; LOSS of Use, DATA, OR profits; or business# interruption) however caused and on any theory of liability, WHETHER in# contract, STRICT liability, OR TORT (including negligence OR OTHERWISE) # arising in any-out-of-the-----the-software, even IF advised of the# Possibili TY of SUCH damage.from. Recorder Import Jointrecorder

recorder.py

# Copyright (c) 2013-2015, Rethink robotics# All rights reserved.## redistribution and use in source and binary forms, wit h or without# modification, is permitted provided that the following conditions is met:## 1. Redistributions of source code must retain the above copyright notice,# this list of conditions and the following DISCL aimer.# 2. Redistributions in binary form must reproduce the above copyright# notice, this list of conditions and the following di Sclaimer in the# documentation and/or other materials provided with the distribution.# 3. Neither the name of the Rethink robotics nor the names of its# contributors may be used to endorse or promote products Derived from# this software without specific prior written permission.## This software are provided by the COPYRIGHT HOL DERs and CONTRIBUTORS "as is" # and any EXPRESS OR implied warranties, including, but not LIMITED to, the# implied Warranti ES of merchantability and FITNESS for A particular purpose# is DISCLAimed.  In NO EVENT shall the COPYRIGHT OWNER OR CONTRIBUTORS be# liable for any DIRECT, INDIRECT, incidental, special, exemplary, or# consequential damages (including, but not LIMITED to, procurement of# substitute GOODS OR SERVICES; LOSS of Use, DATA, OR profits; or business# interruption) however caused and on any theory of liability, WHETHER in# contract, STRICT liability, OR TORT (including negligence OR OTHERWISE) # arising in any-out-of-the-----the-software, even IF advised of the# Possibili TY of SUCH damage.import rospyimport baxter_interfacefrom baxter_interface import Check_versionclass JointRecorder (        Object): Def __init__ (self, filename, rate): "" "Records joint data to a file at a specified. "" "self._filename = filename Self._raw_rate = Rate Self._rate = rospy. Rate Self._start_time = rospy.get_time () Self._done = False Self._limb_left = baxter_interface. Limb ("left") Self._limb_right =Baxter_interface. Limb ("right") Self._gripper_left = Baxter_interface. Gripper ("left", check_version) Self._gripper_right = Baxter_interface. Gripper ("right", check_version) Self._io_left_lower = Baxter_interface. Digitalio (' Left_lower_button ') Self._io_left_upper = Baxter_interface. Digitalio (' Left_upper_button ') Self._io_right_lower = Baxter_interface. Digitalio (' Right_lower_button ') Self._io_right_upper = Baxter_interface. Digitalio (' Right_upper_button ') # Verify grippers have No Errors and is calibrated if self._gripper_left.er         Ror (): Self._gripper_left.reset () if Self._gripper_right.error (): Self._gripper_right.reset () if (not self._gripper_left.calibrated () and Self._gripper_left.type ()! = ' Custom '): Self._gr Ipper_left.calibrate () if (not self._gripper_right.calibrated () and Self._gripper_right.type ()! = ' Custo M '): Self._gripper_right.calibrate ()    def _time_stamp (self): return Rospy.get_time ()-Self._start_time def Stop (self): "" "Stop Rec        Ording.        "" "If Rospy.is_shutdown (): Self.stop () return Self._done def record (self):" ""  Records the current joint positions to a CSV file if OutputFileName is provided at construction this function would        Record the latest set of joint angles in a CSV format.        This function does the not test to see if a file exists and would overwrite existing files. "" "If Self._filename:joints_left = Self._limb_left.joint_names () Joints_right = Self._limb_ Right.joint_names () with open (Self._filename, ' W ') as F:f.write (' time, ') f.write        (', '. Join ([J for J in Joints_left]) + ', ') f.write (' Left_gripper, ')        F.write (', '. Join ([J for J in Joints_right]) + ', ') f.write (' right_gripper\n ') while                        Not Self.done (): # Gripper button Presses if self._io_left_lower.state: Self._gripper_left.open () elif Self._io_left_upper.state:se Lf._gripper_left.close () if Self._io_right_lower.state:self._gripper_right.open                    () elif Self._io_right_upper.state:self._gripper_right.close ()                    Angles_left = [Self._limb_left.joint_angle (j) for J in Joints_left]                    Angles_right = [Self._limb_right.joint_angle (j) for J in Joints_right]                    F.write ("%f,"% (Self._time_stamp (),)) F.write (', '. Join ([STR (x) for x in Angles_left]) + ', ') F.write (STR (self._gripper_left.position ()) + ', ') f.write (', '. Join ([STR (x) for x in angles_right]) + ', ') F.write (str (self._gripper_right.position ()) + ' \ n ') Self._rate.sleep ()

[SRC] Baxter_examples